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The aim of this work is to study the dynamics and stability of soft shape-morphing configurations and specifically the modes of interaction between the front and rear airfoil segments. Initially we present several steady-state solutions,…
We introduce a high-throughput platform that enables simultaneous, parallel testing of six bistable beams via programmable motion of a rotating disk. By prescribing harmonic angular dynamics, the platform explores the phase space of angular…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
Terminal sliding mode (TSM) control algorithm and its non-singular refinement have been elaborated for two decades and belong, since then, to a broader class of the finite-time controllers, which are known to be robust against the matched…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight…
The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…
This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but unknown. Positive definite barrier functions, when used in…
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…
Achieving both efficient pushability (propulsion transmission) and proximally concentrated bending for steerability is challenging for magnetically actuated soft catheters: higher axial/bending stiffness improves force transmission but…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques…
In this paper, we propose a dynamic model and control framework for tendon-driven continuum robots (TDCRs) with multiple segments and an arbitrary number of tendons per segment. Our approach leverages the Clarke transform, the…
There is a growing need for robots that can change their shape, size and mechanical properties to adapt to evolving tasks and environments. However, current shape-changing systems generally utilize bespoke, system-specific mechanisms that…
Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control due to their high-dimensional nonlinear dynamics and actuator…
Modular reconfigurable robots require reliable mechanisms for automated module exchange, but conventional rigid active couplings often fail due to inevitable positioning and orientational errors. To address this, we propose a…
The disassembly of small household appliances poses significant challenges due to their complex and curved geometries, which render traditional rigid fixtures inadequate. In this paper, we propose a modular vacuum-based fixturing system…
Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the…
This paper develops a sliding mode control based frame work for equality constrained optimization by reformulation the first order Karush Kuhn Tucker conditions as control affine dynamical system. The optimization variables are treated as…
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…